Description:FIELD OF INVENTION
[0001] The present invention relates to a cable rope climbing robot, and more particularly to the cable rope climbing robot used for inspecting state of cable ropes.

BACKGROUND
[0002] Wire or cable ropes are widely utilized in industries such as electric power, construction, communication, manufacture, machine equipment etc., for wide variety of purposes. In industrial equipment such as, EOT cranes, Lifts, Hot metal ladles, Torpedo’s, Caster segments, Silos etc., these wire cable ropes are used for hoisting and other purposes. The wire or cable ropes during their service life are subjected to harsh stressing and extreme environmental conditions which causes considerable wear and damage. Therefore, the wire or cable ropes need good maintenance practices to keep the machines health in good condition and to avoid failure.
[0003] The existing practices to inspect wire ropes are time consuming and are unsafe for man, machine & material because these practices need scaffoldings, and/or working at a height etc., for inspecting wire ropes. Further, it might be difficult to setup scaffolding in hard to reach places and/or is not cost effective.
OBJECTIVE OF INVENTION
[0004] It is an object of the invention to solve the problems of the prior art and to provide a remotely operated cable rope climbing robot which can be used to inspect/monitor the state of the cable ropes.
[0005] Another objective of the present invention is to develop a method of visual or sensor-based inspection of wire ropes by using cable rope climbing robot.
[0006] It is further another objective of the present invention to provide the cable rope climbing robot which may be used in applications such as electric power, construction, machines, communication, manufacture etc., to inspect various parameters of the cable ropes of different diameters.
SUMMARY OF INVENTION
[0007] This summary is provided to introduce concepts related to a cable rope climbing robot. The concepts are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
[0008] In one aspect of the present invention, a cable rope climbing robot configured to travel along and inspect at least one cable rope. The cable rope climbing robot comprises a frame and a detection system mounted to the frame. The detection system comprises a detector configured to detect the state of the at least one cable rope. The cable rope climbing robot also comprises a plurality of rolling members operatively coupled to the frame. The plurality of rolling members facilitates in moving the frame along the at least one cable rope. The cable rope climbing robot further comprises a hydraulic driving mechanism configured to drive at least one of the plurality of rolling members. The hydraulic driving mechanism comprises a hydro-motor, a hydraulic pump, and at least one direction control valve hydraulically coupled to the hydro-motor via a plurality of hose pipes.
[0009] In an embodiment, the detector is a camera. In an embodiment, the detector is a sensor.
[0010] In an embodiment, the frame comprises a first arm, a central portion, and a second arm.
[0011] In an embodiment, the plurality of rolling members includes a drive pulley, a toothed wheel and guide pulleys.
[0012] In an embodiment, the guide pulleys are operatively mounted to the first arm.
[0013] In an embodiment, the guide pulleys are configured to accommodate at least one cable rope. At least one of the guide pulleys is movable within at least one first slot portion provided on the first arm to accommodate different diameters of the at least one cable rope.
[0014] In an embodiment, the drive pulley and the toothed wheel are operatively mounted on the second arm.
[0015] In an embodiment, the toothed wheel is rotatably coupled to a bracket member screwably coupled to an extending member of the second arm.
[0016] In an embodiment, the drive pulley is rotatably coupled to the hydro-motor, and the toothed wheel is movable relative to the drive pulley to accommodate different diameters of the at least one cable rope.
[0017] In an embodiment, the toothed wheel is configured to provide desired tension between the at least one cable wire and drive pulley to avoid slippage.
[0018] In an embodiment, the hydraulic driving mechanism comprises at least one flow control valve, a pressure relief valve, and at least one pilot operated check valve.
[0019] In an embodiment, the at least one direction control valve is configured to control the directional movement of the cable rope climbing robot.
[0020] In an embodiment, the at least one flow control valve is configured to control the speed of the cable rope climbing robot.
[0021] In an embodiment, the pressure relief valve is configured to control the pressure of the hydraulic fluid within a fluid reservoir of the hydraulic drive mechanism.
[0022] In an embodiment, the at least one pilot operated check valve is configured to provide safety to the cable rope climbing robot in case of fall during operation, and to stop the cable rope climbing robot at a desired location along a length of the at least one cable rope.
[0023] In an embodiment, the hydraulic driving mechanism further comprises a pressure gauge, a temperature sensor, a level switch.
[0024] In an embodiment, the detection system comprises a wireless data transmission module configured to communicate with a host computer through an IOT based system for remote monitoring and controlling various parameters of the cable rope climbing robot.
[0025] Other features and aspects of this disclosure will be apparent from the following description and the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS
[0026] Figure 1 illustrates a side view of an exemplary cable rope climbing robot configured to travel along and inspect at least one cable rope, according to an embodiment of the present invention;
[0027] Figure 2 illustrates a perspective view of the cable rope climbing robot, according to an embodiment of the present invention;
[0028] Figure 3 illustrates a side view of the cable rope climbing robot, according to an embodiment of the present invention;
[0029] Figure 4 illustrates a side view of a frame of the cable rope climbing robot, according to an embodiment of the present invention;
[0030] Figure 5 illustrates a side view of the frame of the cable rope climbing robot, according to an embodiment of the present invention;
[0031] Figure 6 illustrates a top view of a first arm of the frame, according to an embodiment of the present invention; and
[0032] Figure 7 illustrates a schematic view of hydraulic circuit of the cable rope climbing robot, according to an embodiment of the present invention.
[0033] The drawings referred to in this description are not to be understood as being drawn to scale except if specifically noted, and such drawings are only exemplary in nature.

DETAILED DESCRIPTION
[0034] The detailed description of various exemplary embodiments of the disclosure is described herein with reference to the accompanying drawings. It should be noted that the embodiments are described herein in such details as to clearly communicate the disclosure. However, the amount of details provided herein is not intended to limit the anticipated variations of embodiments; on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present disclosure as defined by the appended claims.
[0035] It is also to be understood that various arrangements may be devised that, although not explicitly described or shown herein, embody the principles of the present disclosure. Moreover, all statements herein reciting principles, aspects, and embodiments of the present disclosure, as well as specific examples, are intended to encompass equivalents thereof.
[0036] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments. As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises”, “comprising”, “includes” and/or “including,” when used herein, specify the presence of stated features, integers, steps, operations, elements and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and/or groups thereof.
[0037] It should also be noted that in some alternative implementations, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may, in fact, be executed concurrently or may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
[0038] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which example embodiments belong. It will be further understood that terms, e.g., those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
[0039] Referring to Figure 1, an exemplary cable rope climbing robot (100) is depicted. The cable rope climbing robot (100) is configured to configured to travel along and inspect the state of at least one cable rope (107). In the illustrated example, the cable rope climbing robot (100) travels and inspects the state of one cable rope (107). Alternatively, the cable rope climbing robot (100) may be configured to travel along and inspect multiple ropes simultaneously, without limiting the scope of the invention. The cable rope climbing robot (100) can be used in applications such as electric power, construction, communication, manufacture, machine equipment etc., where a wire or cable rope is utilized, without any limitations.
[0040] The cable rope climbing robot (100) comprises a frame (101), a detection system (135), a plurality of rolling members (106), and a hydraulic driving mechanism (104). The frame (101) is configured to travel and/or crawl along the cable rope (107) during operation of the cable rope climbing robot (100). The cable rope climbing robot (100) may comprise multiple frames to facilitate climbing multiple cable ropes simultaneously, without limiting the scope of the invention.
[0041] In the illustrated example, the frame (101) is a substantially U-Shaped member comprising a first arm (103), a central portion (113), and a second arm (105). Alternatively, the frame (101) can be of any shape, without any limitations. In the illustrated example, the frame (101) is made of metal. Alternatively, the frame (101) may be made with materials such as carbon fiber light material, alloys, plastics etc., without limiting the scope of the invention.
[0042] The central portion (113) is disposed between the first arm (103) and the second arm (105). The detector system (102) is coupled to the central portion (113) of the frame (101). The first arm (103) is a rectangular member having a gap (133) to facilitate insertion of the at least one cable (107) (shown in Figure 6). The first arm (103) comprises at least one first slot portion (145). The second arm (105) comprises an extending member (146) and a second slot portion (147) (shown in Figures 2 and 3).
[0043] Referring to Figures 1 to 4, the plurality of rolling members (106) are operatively coupled to the frame (101). The plurality of rolling members (106) facilitate in moving/crawling the frame (101) along the at least one cable rope (107). The plurality of rolling members (106) includes a drive pulley (109), a toothed wheel (111) and a pair of guide pulleys (110). In the illustrated example, only four rolling members (106) are depicted. Alternatively, additional rolling members (106) may be used without limitations. The pair of guide pulleys (110) (herein after alternatively referred to as guide rollers (110)) are operatively mounted to the first arm (103). In the illustrated example, one of the pair of guide pulleys (110) is rotatable about a shaft fixed to the first arm (103) and another one of the pair of guide pulley (110) is rotatable about a shaft which can be moved within the at least one first slot portion (145) provided in the first arm (103). The pair of guide pulleys (110) are movable relative to one another to accommodate different diameters of the at least one cable rope (107).
[0044] The drive pulley (109) (herein after alternatively referred to as drive roller (109)) and the toothed wheel (111) are operatively mounted on the second arm (105). The toothed wheel (111) is configured to provide desired tension between the at least one cable wire (107) and the cable rope climbing robot (100) to avoid slippage. The toothed wheel (111) is movable within the second slot portion (147) to accommodate different diameters of the at least one cable rope (107). A bracket member (149) (shown in Figure 3) screwbly coupled to the extending member (146) facilitates in moving the toothed wheel (111). A shaft extending through the bracket member (149) and the toothed wheel (111) moves within the second slot portion (147).
[0045] Referring to Figures 1 to 4, the cable rope climbing robot (100) comprises the hydraulic driving mechanism (104). The hydraulic driving mechanism (104) is configured to drive at least one of the plurality of rolling members (106). In the illustrated example, the hydraulic driving mechanism (104) is configured to drive the drive pulley (109). The hydraulic driving mechanism (104) comprises a hydro-motor (112), a hydraulic pump (114), a fluid reservoir (161), and at least one direction control valve (122). The hydro-motor (112) is configured to be driven by the hydraulic pump (114). In the illustrated example, the hydraulic driving mechanism (104) comprises two direction control valves (122). The at least one direction control valve (122) is hydraulically coupled to the hydro-motor (112) via a plurality of hose pipes (125). The directional movement of the cable rope climbing robot (100) is controlled by controlling the rotation of the hydro-motor (112) coupled to the drive pulley (109).
[0046] Referring to Figure 7, the hydraulic driving mechanism (104) comprises at least one flow control valve (124), a pressure gauge (130), a pressure relief valve (126), and at least one pilot operated check valve (128). The at least one flow control valve (124) is configured to control the speed of the cable rope climbing robot (100). The pressure gauge (130) indicates the pressure within the hydraulic driving mechanism (104). The pressure relief valve (126) is configured to control the pressure of the hydraulic fluid within the hydraulic driving mechanism (104). The at least one pilot operated check valve (128) is configured to provide safety to the cable rope climbing robot (100) in case of fall during operation, and to stop the cable rope climbing robot (100) at a desired location along a length of the at least one cable rope (107).
[0047] The hydraulic driving mechanism (104) further comprises a temperature sensor (140) to indicate the temperature, and a level switch (150) to indicate the level of fluid within the fluid reservoir (161). The hydraulic driving mechanism (104) further comprises a bypass NRV (153), and a return line filter (154). The return line filter (154) facilitates in filtering the fluid. The bypass NRV (153) facilities in bypassing the fluid flow in case of choking of the return line filter (154).
[0048] Referring to Figures 1 and 5, the cable rope climbing robot (100) comprises the detection system (135). The detection system (135) is mounted to the frame (101). In the illustrated example, the detection system (102) is mounted to the central portion (113) of the frame (101) via a bracket. Alternatively, the detection system (102) may be mounted to the frame (101) via a cable tie, nuts and screws etc., without limitations. The detection system (135) is configured to detect and communicate the state of the cable rope (107). The detection system (135) comprises a detector (102) and a wireless data transmission module (140). The detector (102) of the cable rope climbing robot (100) is configured to detect the state of the at least one cable rope (107). In the illustrated example, the detector (102) is a camera (as shown in Figure 5). In another example, the detector (102) is a sensor such as an ultrasonic sensor, thermography sensor etc., without limiting the scope of the invention.
[0049] The wireless data transmission module (140) of the cable rope climbing robot (100) is in communication with a host computer through an IOT based system (not shown) for remote monitoring and controlling various parameters of the cable rope climbing robot (100). The IOT based system may comprise microcontroller, Wi-Fi module, graphic user interface etc., without limiting the scope of the invention. The cable rope climbing robot (100) may comprise a distance measuring unit to measure the movement of the cable rope climbing robot (100).
[0050] The present invention relates to the cable rope climbing robot (100) capable of detecting and communicating the state of the cable rope (107) to the host computer through the IOT based system. The disclosed cable rope climbing robot (100) is safe to use, cost effective, reliable solution to provide a simple and convenient method of cable rope state detection. The disclosed cable rope climbing robot (100) provides easy attachment and detachment from the cable rope (107). The cable rope climbing robot (100) not only provides easy ascension and descension along the cable rope (107), but also ensures controllable ascending or descending speed thereof. The cable rope climbing robot (100) has wide application range and can be used to move along various cable ropes to complete inspections.
[0051] Furthermore, the terminology used herein is for describing embodiments only and is not intended to be limiting of the present disclosure. It will be appreciated that several of the above-disclosed and other features and functions, or alternatives thereof, may be combined into other systems or applications. Various presently unforeseen or unanticipated alternatives, modifications, variations, or improvements therein may subsequently be made by those skilled in the art without departing from the scope of the present disclosure as encompassed by the following claims.
[0052] The claims, as originally presented and as they may be amended, encompass variations, alternatives, modifications, improvements, equivalents, and substantial equivalents of the embodiments and teachings disclosed herein, including those that are presently unforeseen or unappreciated, and that, for example, may arise from applicants/patentees and others.
[0053] While the foregoing describes various embodiments of the invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof. The scope of the invention is determined by the claims that follow. The invention is not limited to the described embodiments, versions or examples, which are included to enable a person having ordinary skill in the art to make and use the invention when combined with information and knowledge available to the person having ordinary skill in the art.

Claims:We Claim:
1. A cable rope climbing robot (100) configured to travel along and inspect at least one cable rope (107), wherein the cable rope climbing robot (100) comprises:
a frame (101);
a detection system (135) mounted to the frame (101), wherein the detection system (135) comprises a detector (102) configured to detect the state of the at least one cable rope (107);
a plurality of rolling members (106) operatively coupled to the frame (101), wherein the plurality of rolling members (106) facilitate in moving the frame (101) along the at least one cable rope (107);
a hydraulic driving mechanism (104) configured to drive at least one of the plurality of rolling members (106), wherein the hydraulic driving mechanism (104) comprises:
a hydro-motor (112);
a hydraulic pump (114); and
at least one direction control valve (122) hydraulically coupled to the hydro-motor (112) via a plurality of hose pipes (125).
2. The cable rope climbing robot (100) as claimed in the claim 1, wherein the detector (102) is a camera.
3. The cable rope climbing robot (100) as claimed in the claim 1, wherein the detector (102) is a sensor.
4. The cable rope climbing robot (100) as claimed in the claim 1, wherein the frame (101) comprises a first arm (103), a central portion (113), and a second arm (105).
5. The cable rope climbing robot (100) as claimed in the claim 1, wherein the plurality of rolling members (106) includes a drive pulley (109), a toothed wheel (111) and guide pulleys (110).
6. The cable rope climbing robot (100) as claimed in the claims 4 and 5, wherein the guide pulleys (110) are operatively mounted to the first arm (103).
7. The cable rope climbing robot (100) as claimed in the claim 6, wherein the guide pulleys (110) are configured to accommodate at least one cable rope (107), wherein at least one of the guide pulleys (110) is movable within at least one first slot portion (145) provided on the first arm (103) to accommodate different diameters of the at least one cable rope (107).
8. The cable rope climbing robot (100) as claimed in the claims 4 and 5, wherein the drive pulley (109) and the toothed wheel (111) are operatively mounted on the second arm (105).
9. The cable rope climbing robot (100) as claimed in the claim 8, wherein the toothed wheel (111) is rotatably coupled to a bracket member (149) screwably coupled to an extending member (146) of the second arm (105).
10. The cable rope climbing robot (100) as claimed in the claim 8, wherein the drive pulley (109) is rotatably coupled to the hydro-motor (112), and the toothed wheel (111) is movable relative to the drive pulley (109) to accommodate different diameters of the at least one cable rope (107).
11. The cable rope climbing robot (100) as claimed in the claim 10, wherein the toothed wheel (111) is configured to provide desired tension between the at least one cable rope (107) and drive pulley (109) to avoid slippage.
12. The cable rope climbing robot (100) as claimed in the claim 1, wherein the hydraulic driving mechanism (104) comprises at least one flow control valve (124), a pressure relief valve (126), and at least one pilot operated check valve (128).
13. The cable rope climbing robot (100) as claimed in the claim 1, wherein the at least one direction control valve (122) is configured to control the directional movement of the cable rope climbing robot (100).
14. The cable rope climbing robot (100) as claimed in the claim 12, wherein the at least one flow control valve (124) is configured to control the speed of the cable rope climbing robot (100).
15. The cable rope climbing robot (100) as claimed in the claim 12, wherein the pressure relief valve (126) is configured to control the pressure of the hydraulic fluid within a fluid reservoir (161) of the hydraulic driving mechanism (104).
16. The cable rope climbing robot (100) as claimed in the claim 12, wherein the at least one pilot operated check valve (128) is configured to provide safety to the cable rope climbing robot (100) in case of fall during operation, and to stop the cable rope climbing robot (100) at a desired location along a length of the at least one cable rope (107).
17. The cable rope climbing robot (100) as claimed in the claim 1, wherein the hydraulic driving mechanism (104) further comprises a pressure gauge (130), a temperature sensor (140), a level switch (150).
18. The cable rope climbing robot (100) as claimed in the claim 1, wherein detection system (135) comprises a wireless data transmission module (140) configured to communicate with a host computer through an IOT based system for remote monitoring and controlling various parameters of the cable rope climbing robot (100).
19. The cable rope climbing robot (100) as claimed in the claim 3, wherein the sensor includes an ultrasonic sensor, a thermography sensor.